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• move the sensor parallel to the slope
• get many sensor data and average the result
• change the sensor config (interval: 200, threshold: 1)
• estimate the slope angle with the distance and position

• as the sensor moves, get many sensor data and average the result
• change the sensor config (interval: 200, threshold: 1)

Edge detection path

Line

From outside to inside

Arc

From inside to outside

Factor in beam diameter

φ120μm at 100mm distance

MTConnect and sensor data near the end process are missing data

Reason

Since the line is a little ahead of the coordinate data, the MTConnect reader and sensor stops too early.
Node-red watches the line and sends a signal to stop, so this need some delay or check before it sends the stop signal.

Bug found at 22nd demo

Feedrate and line number data from MTConnect are inconsistent with the coordinate data.

The temporary solutions:

• Ignore the feedrate from MTConnect and use the command feedrate instead
• Double-check the line number